Unmanned helicopter heading compensation route transition method

An unmanned helicopter and helicopter technology, applied in three-dimensional position/channel control, vehicle position/route/altitude control, non-electric variable control, etc., can solve the problem of reducing the safety performance of unmanned helicopters, large rolling slope and sideslip, etc. problem, to achieve the effect of precise tracking control, safe rolling gradient, and reducing sideslip

Active Publication Date: 2018-05-29
CHINA HELICOPTER RES & DEV INST
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Problems solved by technology

Adopting a circular arc route tracking control method similar to that of a fixed wing will cause a large roll slope and sideslip, which will reduce the safety performance of the unmanned helicopter

Method used

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  • Unmanned helicopter heading compensation route transition method
  • Unmanned helicopter heading compensation route transition method
  • Unmanned helicopter heading compensation route transition method

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Embodiment Construction

[0053] In order to make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the embodiments of the present invention will be described in more detail below in conjunction with the drawings in the embodiments of the present invention.

[0054] The method for unmanned helicopter heading compensation route transition of the present invention is generally divided into:

[0055] 1) The lateral channel adopts zero-speed hold control, which removes the constraints of the circular heading trajectory, avoids large sideslip caused by precise position hold, and ensures flight safety;

[0056] 2) The heading channel adopts the yaw angle rate maintenance control, removes the real-time heading constraint, effectively prevents the roll angle from increasing, and avoids the incoordination of the side and heading in the wind interference environment, which affects the stability margin of the control;

[0057] 3) The yaw rate command i...

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Abstract

The present invention relates to an unmanned helicopter heading compensation route transition method. During the deflection process of an unmanned helicopter, a transverse path adopts lateral zero speed maintaining control; a heading path adopts yaw angle rate maintaining control; a yaw angle rate instruction is generated according to heading deviation containing a heading compensation quantity; the heading compensation quantity is determined according to real-time side deviation, a yaw angle rate upper limit corresponding to a current flight speed and a heading compensation quantity threshold, so that a yaw angle speed instruction and a roll angle instruction are obtained; and therefore, when the unmanned helicopter rotates too quickly when swerving due to disturbance, a heading compensation mechanism enables a compensation effect for reducing the speed of rotation; and when the helicopter rotates too slowly when swerving due to disturbance, the heading compensation mechanism continuously gives out heading compensation instructions, and the helicopter continues to complete swerving until the heading deviation and side deviation of the helicopter meet requirements. The heading of the helicopter is corrected through the side deviation, so that the unmanned helicopter can accurately track a target route and achieve precise tracking and control of the route.

Description

technical field [0001] The invention belongs to the technical field of unmanned helicopter control, and in particular relates to a method for unmanned helicopter heading compensation route transition. Background technique [0002] The unmanned helicopter with conventional aerodynamic layout has a low flying speed, and can complete flight tasks including route tracking and coordinated turning at a low speed. The lower the flight speed during coordinated turns, the weaker the static stability of the heading, and the weaker the ability to suppress wind disturbances. At present, domestic research on coordinated turning control of unmanned helicopters is still immature. Adopting a circular arc route tracking control method similar to that of a fixed wing will cause a large roll slope and sideslip, which will reduce the safety performance of the unmanned helicopter. Contents of the invention [0003] The main purpose of the present invention is to effectively improve the safet...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCG05D1/102
Inventor 胡淼李卫星廖智麟
Owner CHINA HELICOPTER RES & DEV INST
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